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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2019-2023, LAAS-CNRS, University of Edinburgh |
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// Heriot-Watt University |
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// Copyright note valid unless otherwise stated in individual files. |
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// All rights reserved. |
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/////////////////////////////////////////////////////////////////////////////// |
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#include "crocoddyl/multibody/actuations/floating-base.hpp" |
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#include "python/crocoddyl/multibody/multibody.hpp" |
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#include "python/crocoddyl/utils/copyable.hpp" |
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namespace crocoddyl { |
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namespace python { |
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void exposeActuationFloatingBase() { |
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bp::register_ptr_to_python< |
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boost::shared_ptr<crocoddyl::ActuationModelFloatingBase> >(); |
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✓✗ |
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bp::class_<ActuationModelFloatingBase, bp::bases<ActuationModelAbstract> >( |
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"ActuationModelFloatingBase", |
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"Floating-base actuation models.\n\n" |
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"It considers the first joint, defined in the Pinocchio model, as the " |
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"floating-base joints.\n" |
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"Then, this joint (that might have various DoFs) is unactuated.", |
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✓✗ |
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bp::init<boost::shared_ptr<StateMultibody> >( |
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bp::args("self", "state"), |
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"Initialize the floating-base actuation model.\n\n" |
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":param state: state of multibody system")) |
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.def("calc", &ActuationModelFloatingBase::calc, |
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✓✗ |
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bp::args("self", "data", "x", "u"), |
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"Compute the floating-base actuation signal and actuation set from " |
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"the joint torque input u.\n\n" |
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"It describes the time-continuos evolution of the floating-base " |
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"actuation model.\n" |
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":param data: floating-base actuation data\n" |
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":param x: state point (dim. state.nx)\n" |
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✓✗ |
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":param u: joint-torque input (dim. nu)") |
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.def("calcDiff", &ActuationModelFloatingBase::calcDiff, |
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✓✗ |
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bp::args("self", "data", "x", "u"), |
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"Compute the Jacobians of the floating-base actuation model.\n\n" |
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"It computes the partial derivatives of the floating-base " |
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"actuation. It assumes that calc\n" |
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"has been run first. The reason is that the derivatives are " |
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"constant and\n" |
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"defined in createData. The derivatives are constant, so we don't " |
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"write again these values.\n" |
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":param data: floating-base actuation data\n" |
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":param x: state point (dim. state.nx)\n" |
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✓✗ |
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":param u: joint-torque input (dim. nu)") |
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.def("commands", &ActuationModelFloatingBase::commands, |
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✓✗ |
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bp::args("self", "data", "x", "tau"), |
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"Compute the joint-torque commands from the generalized torques.\n\n" |
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"It stores the results in data.u.\n" |
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":param data: actuation data\n" |
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":param x: state point (dim. state.nx)\n" |
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✓✗ |
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":param tau: generalized torques (dim state.nv)") |
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.def("torqueTransform", &ActuationModelFloatingBase::torqueTransform, |
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bp::args("self", "data", "x", "tau"), |
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"Compute the torque transform from generalized torques to " |
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"joint-torque inputs.\n\n" |
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"It stores the results in data.Mtau.\n" |
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":param data: actuation data\n" |
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":param x: state point (dim. state.nx)\n" |
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✓✗ |
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":param tau: generalized torques (dim state.nv)") |
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.def("createData", &ActuationModelFloatingBase::createData, |
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✓✗ |
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bp::args("self"), |
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"Create the floating-base actuation data.\n\n" |
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"Each actuation model (AM) has its own data that needs to be " |
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"allocated.\n" |
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"This function returns the allocated data for a predefined AM.\n" |
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✓✗ |
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":return AM data.") |
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✓✗ |
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.def(CopyableVisitor<ActuationModelFloatingBase>()); |
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} |
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} // namespace python |
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} // namespace crocoddyl |